Orientation-Singularity and Nonsingular Orientation-Workspace Analyses of the Stewart-Gough Platform Using Unit Quaternion Representation
This paper mainly addresses the orientation-singularity analysis and the nonsingular orientation-workspace computation of the Stewart-Gough Platform. Employing a unit quaternion to represent the orientation of the moving platform, an analytical symbolic expression that represents the orientation-singularity locus of the manipulator at a fixed position is derived. It is shown that for the Stewart-Gough Platform, it must exist a singularity free orientation void in the orientation space around the orientation origin for each position in the position-workspace. Using the orientation representation and applying the inverse kinematics solution of the Stewart-Gough Platform, a discretization method is proposed for the computation of the nonsingular orientation-workspace of the Stewart-Gough Platform. Based on the research on the orientation-singularity and nonsingular orientation-workspace of the manipulator, a new concept of “practical orientation-capability is introduced as a performance index for the orientation-capability analysis of the Stewart-Gough Platform at a certain position in the position-workspace. Examples of a 6/6-SPS Stewart-Gough Platform are given to demonstrate these theoretical results.
Orientation-Singularity Nonsingular Orientation-Workspace Unit Quaternion Representation
Yi Cao Weixi Ji Zhuo Li Hui Zhou Mengsi Liu
School of Mechanical Engineering, Jiangnan University, 1800 Lihu Avenue, Wuxi, Jiangsu 214122, China
国际会议
The 22nd China Control and Decision Conference(2010年中国控制与决策会议)
徐州
英文
2282-2287
2010-05-26（万方平台首次上网日期，不代表论文的发表时间）